Vehicle maneuver estimation accuracy conveyance

A Vehicle-to-Everything (V2X) entity comprising one of a first device in a first vehicle or a roadside unit (RSU) in communication with the first device configured to perform information exchange for a driving maneuver to be performed by a first vehicle, comprising:

• a wireless transceiver configured to wirelessly communicate with devices;
• at least one memory;
• and
• at least one processor coupled to the wireless transceiver and the at least one memory, the at least one processor configured to:
• transmit, to a second device, via the wireless transceiver, an inter-vehicle message with a driving maneuver request for a driving maneuver associated with maneuvering the first vehicle, the inter-vehicle message comprising at least one estimated parameter for the driving maneuver comprising one or more temporal parameters, one or more spatial parameters, one or more trajectory parameters, or a combination thereof, the inter-vehicle message further comprising an indication of an estimation accuracy for the at least one estimated parameter, wherein the least one estimated parameter for the driving maneuver is based in part on sensor input;
• receive, via the wireless transceiver, a driving maneuver response from the second device granting, rejecting, or providing a counter proposal for the driving maneuver;
• and
• transmit an updated driving maneuver request or proceed with the driving maneuver request based on the received driving maneuver response.

A method of performing information exchange for a driving maneuver to be executed by a maneuvering vehicle, the method performed by a Vehicle-to-Everything (V2X) entity comprising one of a first device in the first vehicle or a roadside unit (RSU) in communication with the first device, the method comprising:

• receiving an inter-vehicle message with a driving maneuver request for a driving maneuver by the maneuvering vehicle, the driving maneuver being associated with maneuvering the first vehicle, the inter-vehicle message comprising at least one estimated parameter for the driving maneuver comprising one or more temporal parameters, one or more spatial parameters, one or more trajectory parameters, or a combination thereof, the inter-vehicle message further comprising an indication of an estimation accuracy for the at least one estimated parameter, wherein the least one estimated parameter for the driving maneuver is based in part on sensor input;
• determining whether to grant, reject, or counter-proposal based on the at least one estimated parameter for the driving maneuver and the indication of the estimation accuracy for the at least one estimated parameter and a predicted location and motion state of the first vehicle;
• and
• transmitting a grant, a rejection, or a counter-proposal determined based on the driving maneuver request.

A Vehicle-to-Everything (V2X) entity configured to perform information exchange for a driving maneuver to be executed by a maneuvering vehicle, the V2X entity comprising one of a first device in a first vehicle or a roadside unit (RSU) in communication with the first device, comprising:

• a wireless transceiver configured to wirelessly communicate with devices;
• at least one memory;
• and
• at least one processor coupled to the wireless transceiver and the at least one memory, the at least one processor configured to:
• receive, via the wireless transceiver, an inter-vehicle message with a driving maneuver request for a driving maneuver by the maneuvering vehicle, the driving maneuver being associated with maneuvering the first vehicle, the inter-vehicle message comprising at least one estimated parameter for the driving maneuver comprising one or more temporal parameters, one or more spatial parameters, one or more trajectory parameters, or a combination thereof, the inter-vehicle message further comprising an indication of an estimation accuracy for the at least one estimated parameter, wherein the least one estimated parameter for the driving maneuver is based in part on sensor input;
• determine whether to grant, reject, or counter-proposal based on the at least one estimated parameter for the driving maneuver and the indication of the estimation accuracy for the at least one estimated parameter and a predicted location and motion state of the first vehicle;
• and
• transmit, via the wireless transceiver, a grant, a rejection, or a counter-proposal determined based on the driving maneuver request.